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29081 Commits

Author SHA1 Message Date
Andrew Tridgell 0c2041d415 HAL_ChibiOS: constrain more timer timeouts 2022-04-09 17:04:26 +09:00
Andrew Tridgell ce1fc5406c HAL_ChibiOS: prevent long timeouts in DShot 
this prevents bad calculated timeouts in DShot. The timeout would
sometimes come out as 0xFFFFFFFF, which led to an assert and could
block the thread

This fix is meant to be minimilistic to allow it to be merged easily
into 4.2. A better fix would fix all the uint32_t wrap handling in
DShot
 2022-04-09 17:04:26 +09:00
Andrew Tridgell 1f30cf93cf AP_Math: added unsigned versions of constrain functions 
sometimes it really does matter that we use constrain_uint32() instead
of constrain_int32(). For example, if we have a value like 0xFFFFFFFF
then the result will be very different

we should use unsigned constrain when dealing with unsigned values
 2022-04-09 17:04:26 +09:00
Andrew Tridgell 2ad485bb09 AP_Logger: fixed @SYS file logging 
the key fix is the reset of the fd to -1. Without that fix we only
ever log @SYS/uarts.txt

The timing change is needed to get the files out in a reasonable
time. The function is actually getting called at 100Hz or less, not
1kHz (measured on MatekH743 copter at 400Hz). So we need to run it
faster to get the files logged in a reasonable time
 2022-04-09 17:04:26 +09:00
Andy Piper b3bd0d3fbb AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-04-09 17:04:26 +09:00
Peter Barker da97462385 AP_AHRS: subtract accel bias from correct ins accel instance 
In the case that you have INS_USE indicating IMUs should be used, but
EK3_IMU_MASK leaving some IMUs unused, we subtract the bias from the
wrong INS data
 2022-04-09 17:04:26 +09:00
Andrew Tridgell a039500e53 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-09 17:04:26 +09:00
Bill Geyer cfaef178f4 AP_Math: add chirp function to support frequency sweeps in systemid and autotune 2022-03-30 11:37:41 +09:00
Bill Geyer 53b91b0c67 AC_Autotune: clean up variable init for dwell 2022-03-30 11:37:41 +09:00
Bill Geyer f3fba7d844 AC_AutoTune: use chirp function in AP_Math for frequency sweeps 2022-03-30 11:37:41 +09:00
Bill Geyer 74db41806b AC_AutoTune: combine dwell_run_test for angle and rate 2022-03-30 11:37:41 +09:00
Bill Geyer 4680f73715 AC_AutoTune: combine dwell_init methods 2022-03-30 11:37:41 +09:00
Bill Geyer 8156831e0e AC_AutoTune:tradheli-streamline gcs messages 2022-03-30 11:37:41 +09:00
Peter Barker 42e567207e AC_AutoTune: Vector tidying 2022-03-30 11:37:41 +09:00
Peter Barker 97ed1ac4c7 AC_AutoTune_Heli: use structure assignment to clear structures 2022-03-30 11:37:41 +09:00
Peter Barker e2dad1af4d AC_AutoTune: use structure assignment for test results 2022-03-30 11:37:41 +09:00
Peter Barker ecf3d16a4d AC_AutoTune: createstructure to hold specific test's sweep results 2022-03-30 11:37:41 +09:00
Henry Wurzburg c4a31b1d07 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-30 11:37:41 +09:00
Andy Piper b8e37317c2 AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-30 11:37:41 +09:00
Andy Piper 295e36d7d6 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-30 11:37:41 +09:00
Andy Piper 15ec9d5ab4 AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-30 11:37:41 +09:00
AndKe 0351cd42c4 AP_HAL_ChibiOS: add OREOLED to CubeGreen 2022-03-30 11:37:41 +09:00
Andrew Tridgell fde2930fa6 hwdef: changed MatekH743 to a 32 bit timer 
the 68ms issue is still present on this board. Switching to a 32 bit
timer will fix it, but loses us the tonealarm support
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 3713769e57 AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-30 11:37:41 +09:00
Andrew Tridgell adabaca240 AP_Logger: added terrain correction logging field 2022-03-30 11:37:41 +09:00
Andrew Tridgell 14145959e0 AP_Terrain: added logging of terrain correction 2022-03-30 11:37:41 +09:00
Andrew Tridgell 262163eb0f AP_Scripting: restored corrected boolean in height_amsl binding 2022-03-30 11:37:41 +09:00
Andrew Tridgell eac02acef8 HAL_SITL: don't use terrain adjustment 2022-03-30 11:37:41 +09:00
Andrew Tridgell 59409fd6b7 AP_Arming: setup for terrain adjustment on arming 2022-03-30 11:37:41 +09:00
Andrew Tridgell 78f83d5411 SITL: don't use adjusted terrain in SITL 2022-03-30 11:37:41 +09:00
Andrew Tridgell 502539671d AP_Terrain: added terrain reference adjustment 
this restores the terrain adjustment functionality removed in #19946,
but without the problematic approach of always using home (which can
be moved in flight) and with a TERR_OFS_MAX parameter to limit the
amount of adjustment
 2022-03-30 11:37:41 +09:00
Andrew Tridgell a8ca9d5b98 HAL_ChibiOS: display source of RC input 
distinguish between IOMCU, RCInput with bytes and RCInput with pulses
 2022-03-30 11:37:41 +09:00
Andrew Tridgell f159caa203 HAL_ChibiOS: switch between IOMCU and RCProt rapidly 
keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 1b13a9d15b AP_RCProtocol: added using_uart() method 2022-03-30 11:37:41 +09:00
Andy Piper 147e07a29a AP_HAL_ChibiOS: add KakuteH7-bdshot target 2022-03-30 11:37:41 +09:00
Andrew Tridgell b805f91b18 AP_BattMonitor: fixed battery remaining of sum battery 
and move to common function for update_consumed()
 2022-03-30 11:37:41 +09:00
Randy Mackay 3584a6cac9 AP_BLHeli: add reboot required to some parameters 2022-03-30 11:37:41 +09:00
Andy Piper 6721aa5f9e AP_HAL_ChibiOS: correct channel offsets for dshot commands 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
 2022-03-30 11:37:41 +09:00
Randy Mackay ba8cb8f198 AP_HAL_ChibiOS: reversible DShot fix 
Co-authored-by: Andy Piper <github@andypiper.com>
 2022-03-30 11:37:41 +09:00
Andrew Tridgell b550d771c8 HAL_ChibiOS: prevent conflicting RC input 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 68b4c38180 AP_GPS: prevent switching to a dead GPS 
when we switch away from the blended GPS instance we need to ensure we
don't switch to a GPS that is timing out, and may be the instance that
is triggering the disable of blending
 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9105c931b5 GCS_MAVLink: send GCS voltage to GCS 
may be resting voltage of option enabled
 2022-03-30 11:37:41 +09:00
Andrew Tridgell d900eeac50 AP_BattMonitor: added option to send resting voltage to GCS 2022-03-30 11:37:41 +09:00
Andy Piper e47a22ccff AP_Declination: ensure indexing into declination tables is always correct 
add constants for table sizes
 2022-03-30 11:37:41 +09:00
Andrew Tridgell b21203bfcf AP_Arming: make mission checks virtual 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9648323d0a AP_Arming: display a warning if arming checks disabled when arming 2022-03-30 11:37:41 +09:00
Andrew Tridgell 9aa1442b32 AC_AttitudeControl: added set_lean_angle_max_cd() 2022-03-30 11:37:41 +09:00
Andrew Tridgell 41214331e1 AC_Autorotation: use accel_to_angle() 2022-03-30 11:37:41 +09:00
Andrew Tridgell e3bddc4560 AC_WPNav: use angle/accel functions 2022-03-30 11:37:41 +09:00
Andrew Tridgell ef6db75d5a AP_Math: added angle_to_accel() and accel_to_angle() 2022-03-30 11:37:41 +09:00
Leonard Hall f6e5a11571 AC_PosControl: Decay posiiton error during relax 2022-03-12 08:01:18 +09:00
Leonard Hall 7402444ffe AC_AttitudeControl: AC_PosControl: add soften for landing 2022-03-12 08:01:18 +09:00
Peter Barker 0feed119cd AP_HAL_ChibiOS: allow specification of AUTOBUILD_TARGETS in hwdef files 2022-03-12 08:01:18 +09:00
Andrew Tridgell bbfcf37d5d AP_Math: fixed build error on cygwin 
ensure variables are always initialised
 2022-03-12 08:01:18 +09:00
Leonard Hall 1ccc2311ba AP_Math: SCurve: Increase corner speeds 2022-03-12 08:01:18 +09:00
Leonard Hall 1386ac40cf AP_Math: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:01:18 +09:00
Leonard Hall 9e7716273a AC_WPNav: Support pause 2022-03-12 08:01:18 +09:00
Leonard Hall ed11b95281 AC_WPNav: init optionally accepts stopping point 2022-03-12 08:01:18 +09:00
Leonard Hall 0de932345a AC_Loiter: use Pos_Control soften_for_landing_xy 2022-03-12 08:01:18 +09:00
Leonard Hall 43d59769fe AC_WPNav: Increase corner speeds 2022-03-12 08:01:18 +09:00
Leonard Hall c16e736bc6 AC_WP_Nav: Convert S-Curves to use maximum Snap to remove minimum time between waypoints 2022-03-12 08:01:18 +09:00
MallikarjunSE 3fc302f7ad AP_HAL_ChibiOS: Add Sierra-F9P support 2022-03-12 08:01:18 +09:00
Andy Piper 0297e2e313 AP_HAL_ChibiOS: normalize BeastH7v2 in line with BeastF7v2 definition 2022-03-12 08:01:18 +09:00
Evgeniy c53837141f AP_HAL_ChibiOS: BeastH7v2 board added 2022-03-12 08:01:18 +09:00
Andrew Tridgell bffa7d9893 hwdef: fixed buzzer on CUAV_GPS peripheral 2022-03-12 08:01:18 +09:00
MallikarjunSE 2598257e76 hwdef: hwdef update with watchdog 2022-03-12 08:01:18 +09:00
MallikarjunSE 00a276df9c hwdef:update storage pages and enable watchdog 2022-03-12 08:01:18 +09:00
murata 0893789863 hwdef: Set the maximum number of barometric pressure sensors to 1 2022-03-12 08:01:18 +09:00
murata 78c193bd1e hwdef: Maximum number of battery monitors is 1 2022-03-12 08:01:18 +09:00
Andrew Tridgell 635e04567b hwdef: enable GPS_MOVING_BASELINE on FreeflyRTK and f303-GPS 
this allows for F9P based dual-GPS yaw on DroneCAN peripherals with
auto-config
 2022-03-12 08:01:18 +09:00
Andrew Tridgell feb34f3a0c hwdef: added HolybroG4_GPS 2022-03-12 08:01:18 +09:00
Andrew Tridgell 3f1a138a73 HAL_ChibiOS: fixed min/max inversion in MCU voltage logging 2022-03-12 08:01:18 +09:00
Andy Piper ce8e87bd29 AP_HAL: always choose high for dshot prescaler calculation 2022-03-12 08:01:18 +09:00
Iampete1 d21b684753 AP_PiccoloCAN: GPIO servo does not count as active 2022-03-12 08:01:18 +09:00
Iampete1 121080f77a AP_Arming: don't arming check servo functions set to GPIO 2022-03-12 08:01:18 +09:00
Tom Pittenger bf11e304f6 AP_Airspeed: improve description of ARSPD_TUBE_ORDR 2022-03-12 08:01:18 +09:00
Iampete1 7ced9b0d32 AP_Airspeed: rename get_health_failure_probability to get_health_probability 2022-03-12 08:01:18 +09:00
Iampete1 8a4f256ad5 AP_Airspeed: Health: use reading from correct airspeed sensor 2022-03-12 08:01:18 +09:00
Iampete1 2f3b1eac6d AC_AttitudeControl: WeatherVane: defualt to 0 gain on plane and early return 2022-03-12 08:01:18 +09:00
Andrew Tridgell 82737dc863 AP_Scripting: fixed radius selection for ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell 6815dcd688 AP_Scripting: fixed beacon lost in ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell cf05496687 AP_Scripting: review fixes 2022-03-12 08:01:18 +09:00
Andrew Tridgell 06f67d6937 SITL: fixed ship offset velocity correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell 45c2452675 AP_Common: improved accuracy of get_bearing() 
make base function ftype, then convert to int32_t for get_bearing_to()
 2022-03-12 08:01:18 +09:00
Andrew Tridgell cfcc7650fd AP_Scripting: update lua docs 2022-03-12 08:01:18 +09:00
Andrew Tridgell 30b73452d6 AP_Scripting: plane ship landing script 2022-03-12 08:01:18 +09:00
Andrew Tridgell 9e3bd93993 AP_Scripting: added rotate_xy for Vector3f 2022-03-12 08:01:18 +09:00
Andrew Tridgell 70e7bf4ed9 AP_Scripting: added follow API 2022-03-12 08:01:18 +09:00
Andrew Tridgell efd884cd1e AP_Vehicle: added update_target_location() 2022-03-12 08:01:18 +09:00
Andrew Tridgell b2620e3334 SITL: added ship offset and ATTITUDE 2022-03-12 08:01:18 +09:00
Andrew Tridgell b0112ee804 AP_Follow: added APIs for plane ship landing 2022-03-12 08:01:18 +09:00
Andrew Tridgell 6e851d3bef SITL: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell 3293f04f8c AP_Terrain: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell 06345926c8 AP_Scripting: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell a301fd8567 AP_HAL_SITL: removed terrain home correction 2022-03-12 08:01:18 +09:00
Andrew Tridgell b6676ae0ec AP_Common: removed terrain home correction 2022-03-12 08:01:18 +09:00
Randy Mackay 2861282fed AP_Follow: zreo velocities if not provided 2022-03-12 08:01:18 +09:00
Andrew Tridgell 2032b95f9b AP_Follow: support the FOLLOW_TARGET mavlink message 
this is used by qgroundcontrol, allowing follow on a mobile device

note that you must set the qgc option to "always send follow" and also
must set FOLL_ALT_TYPE=2 in ArduPilot
 2022-03-12 08:01:18 +09:00
Andrew Tridgell d5293b2030 AP_NavEKF3: fixed constrain indexing bug 
fixes #20180

thanks to @liyue75 for spotting this!
 2022-03-12 08:01:18 +09:00
Peter Barker 43bbfacef5 AP_Baro: reformat log message to separate fields out 2022-02-28 12:47:57 +11:00
Peter Barker 37af7e5166 RC_Channel: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Peter Barker 4e122a3d50 AP_IOMCU: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Peter Barker 14ce09279f RC_Channel: privatise switch reading functions 2022-02-27 09:51:04 +11:00
Peter Barker d3db716dd9 RC_Channel: remove unused functions 2022-02-27 09:51:04 +11:00
Peter Barker d41388f242 RC_Channel: privatise range accessors 2022-02-27 09:51:04 +11:00
Henry Wurzburg f5766bb098 AP_BattMonitor: update name of type 10 to Sum of Selected Monitors 2022-02-26 08:31:24 +09:00
Randy Mackay 10e69373b3 AP_Scripting: copter-fast-descent has less aggressive slowdown at end 2022-02-26 08:05:05 +09:00
Randy Mackay 3efebcf1e0 AP_Scripting: copter-fast-descent uses small default radius 2022-02-26 08:05:05 +09:00
Randy Mackay fc9cfe9b4a AP_Scripting: copter fast descent from Auto 
Also use custom parameters
Allow yaw to be static or point towards center
 2022-02-26 08:05:05 +09:00
Andy Piper 0696dda324 AP_FlashIface: add support for DTR variant of w25q found on SPRacingH7 2022-02-24 10:19:07 +11:00
Andy Piper ed952a0ea0 AP_HAL_ChibiOS: allow flash to be write-protected/unprotected on reboot 
control protection support via HAL_FLASH_PROTECTION
provide support for flash protection on SPRacingH7
SPRacingH7 bootloader needs to use w25q-dtr
 2022-02-24 10:19:07 +11:00
Andy Piper c01b1801c8 AP_BoardConfig: add options for write protecting bootloader and main flash 
add option to completely remove protection on flash banks
 2022-02-24 10:19:07 +11:00
Peter Barker 699648ef6f AP_Radio: fix build for skyviper-journey 2022-02-24 09:18:34 +11:00
Andrew Tridgell 8723ec3b2a AP_Notify: fixed builds 
broken by combination of alarm changes and header changes
 2022-02-23 21:48:58 +11:00
Henry Wurzburg ac88f354fc hwdef: update Swan-K1 with new harmonic notch mask to avoid errors 2022-02-23 18:45:51 +11:00
Peter Barker 2d96842490 GCS_MAVLink: correct out-of-space-to-send count 2022-02-23 18:43:34 +11:00
Andy Piper 02219ba3e5 AP_HAL_ChibiOS: ensure chan_offset is initialized before using it 2022-02-23 18:35:43 +11:00
Andy Piper 9cec88818e AP_Notify: add support for alternate alarm function 
enable alarm based on pwm
 2022-02-23 18:35:43 +11:00
Andy Piper 7d5c493db5 SRV_Channel: add support for alarm servo functions 2022-02-23 18:35:43 +11:00
Andy Piper b6022ca5d4 AP_HAL_ChibiOS: add support for alternate alarm PWM group 
account for inverted alarms and build on boards without PWM
enable alarm based on pwm
shutdown alarm channel if using a different one
 2022-02-23 18:35:43 +11:00
Andy Piper f840315aa4 AP_HAL_ChibiOS: clock H750 at 480Mhz when using 8Mhz, 16Mhz and 24Mhz crystals 2022-02-23 18:19:56 +11:00
Bill Geyer 3a8175b880 RC_Channel: move tradheli turbine start to unused AUX_FUNC 2022-02-23 14:22:47 +09:00
Bill Geyer f7b420f131 AP_Motors: move turbine start to update_turbine_start and style cleanup 2022-02-23 14:22:47 +09:00
Ferruccio1984 20f1d0c4da RC_Channel: tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Ferruccio1984 3a67b17142 AP_Motors: tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Andrew Tridgell ada6554578 AP_NMEA_Output: use a fixed maximum number of NMEA outputs 
this improves ccache performance
 2022-02-23 12:36:59 +11:00
Andrew Tridgell 3e1ffa3769 AP_BoardConfig: moved board dependent pieces from .h to .cpp 
improves ccache efficiency
 2022-02-23 12:36:59 +11:00
Andrew Tridgell 372e785a10 AP_SerialManager: moved uart declaration to cpp file 
improves ccache efficiency
 2022-02-23 12:36:59 +11:00
Iampete1 607a7bfd70 AC_Autotune_Heli: print gains on axis completion 2022-02-23 07:44:24 +09:00
Iampete1 2ccf8af2bd AC_Autotune_Multi: print gains on axis completion 2022-02-23 07:44:24 +09:00
Iampete1 0e0f4c86dc AC_AutoTune: print gains on axis completion 2022-02-23 07:44:24 +09:00
Randy Mackay 6f8ff4cf49 AP_Scripting: add copter-nav-script-time example script 2022-02-22 12:32:56 +09:00
Peter Barker 87439eec80 GCS_MAVLink: stop taking semaphore aorund statustext queue loop 
we're taking it in the loop
 2022-02-22 12:56:38 +11:00
Andrew Tridgell 9eab217081 AP_Tuning: removed controller error messages 
these are replaced by the SRate in PID messages
 2022-02-22 12:23:48 +11:00
Andrew Tridgell e715972264 AP_Logger: reduce the stack log frequency 
10Hz is plenty
 2022-02-22 12:17:17 +11:00
Andrew Tridgell 96518c9eda HAL_ChibiOS: added CPU defines to hwdef 
needed for checks like defined(STM32F1)
 2022-02-22 12:13:19 +11:00
Andrew Tridgell 4c5fc1f5ef AP_IOMCU: removed include of ch.h from headers 2022-02-22 12:13:19 +11:00
Andrew Tridgell 454879e638 AP_CANManager: include hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell 9383c43ab9 AP_BoardConfig: include hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell 7bd45fcb50 AP_Filesystem: avoid ff.h in header 
this avoids the chibios hal includes
 2022-02-22 12:13:19 +11:00
Andrew Tridgell 075f349156 AP_BLHeli: bring in hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell 56d74a352c AP_HAL: fixed vprintf for no hal.h 2022-02-22 12:13:19 +11:00
Andrew Tridgell 6039b8012a HAL_ChibiOS: define HAL_USE_SDMMC 2022-02-22 12:13:19 +11:00
Andrew Tridgell 638e20a0b9 HAL_ChibiOS: bring in hal.h where it is needed 2022-02-22 12:13:19 +11:00
Andrew Tridgell b248fdfcbb AP_HAL: avoid including hal.h in generic code 2022-02-22 12:13:19 +11:00
Andrew Tridgell 25cc8203d8 HAL_ChibiOS: added CHIBIOS_BOARD_NAME define 2022-02-22 12:13:19 +11:00
Andrew Tridgell 4811544003 AP_HAL: fixed a race conditon for CAN frame callback 
callback can change from another thread
 2022-02-20 06:28:47 +11:00
Andrew Tridgell 890ef5679c GCS_MAVLink: handle CAN_FILTER_MODIFY call 2022-02-19 18:24:56 +11:00
Andrew Tridgell c94c9d8859 AP_CANManager: added CAN_FRAME filter handling 2022-02-19 18:24:56 +11:00
Andrew Tridgell 19661fe981 AP_Common: added uint16_t sorting code 
also added test suite
 2022-02-19 18:24:56 +11:00